文献类型：期刊文献

中文题名：基于操作者表现的机器人遥操作方法

英文题名：A Performance of Teleoperator Based Method for Telerobotic System

作者：刘爽[1];朱国栋[1]

机构：[1]华东理工大学机械与动力工程学院,上海200237

年份：2018

卷号：40

期号：4

起止页码：540

中文期刊名：机器人

外文期刊名：Robot

收录：CSTPCD;;EI(收录号：20184406012587);Scopus;北大核心:【北大核心2017】；CSCD:【CSCD2017_2018】；

基金：国家自然科学基金(51405236);上海浦江人才计划(16PJ1402300)

语种：中文

中文关键词：遥操作;操作者表现;脑电信号;共享控制

外文关键词：teleoperation;performance of teleoperator(PoT);electroencephalography(EEG);shared control

摘要：针对遥操作机器人,提出了一种操作者表现(PoT)的在线识别方法以及基于PoT的遥操作移动机器人控制框架.首先,通过分析遥操作者的EEG(脑电信号)获得5个PoT指标,并使用BP(反向传播)神经网络对其进行建模,从而实现对遥操作者表现的在线识别.随后,设计了一种基于PoT动态调节遥操作共享控制系统中的控制权重的策略.选取3名不同遥操作者进行了在线PoT识别及基于PoT的共享控制遥操作实验,实验结果证明该方法能够有效地在线识别PoT,同时基于PoT的控制框架提升了遥操作的效率和安全性.
For telerobotic system, an online PoT(performance of teleoperator) identification method and a PoT based control framework for the mobile telerobotic system are proposed. Firstly, 5 PoT indicators are extracted by analyzing electroencephalography(EEG) signals of the teleoperator, and BP(backpropagation) neural network is used to model those indicators, so that the PoT can be identified online. Then, a dynamic adjustment strategy of control weights in a teleoperation shared control system is proposed based on PoT. Finally, experiments on the online PoT identification and the PoT based shared control teleoperation are performed with 3 teleoperators. The results demonstrate the effectiveness of the proposed method in PoT online identification, as well as the enhancement of teleoperation efficiency and safety by the PoT based control framework.